Here's a link to a trip report I wrote about sightseeing near Noyers. It's full of photos and a bit of historical info:
http://tinyurl.com/6dkeozh
Loads of other places nearby to see not mentioned in the report, such as Vézelay, Avallon, Auxerre, Châteauneuf, the châteaux of Commarin and Bussy-Rabutin, etc.
Get your hands on the Michelin maps (scale of 1:200,000) for whatever regions you visit. The Michelin maps have icons for all kinds of historically/touristically interesting things such as châteaux, ruins, churches, abbeys, scenic view points, caves, Roman sites, megaliths, designated scenic roads and many other things. Usually when I'm exploring various regions in France I just look at the map and I am able to plan interesting and scenic drives just reading the map. For instance, I usually look for a designated scenic road, which are highlighted in green, and I especially look for towns with the historic church and/or château icon. I also try to make sure the route goes through as many small villages as possible. Usually putting all these things together I find interesting and scenic drives without even knowing where I am going and with no assistance from a guide book. Often these places are never mentioned in guidebooks and remain completely unknown to many tourists.
Get yourself a good guidebook or two for the area. I like the Michelin Green Guides. If you need restaurant info then get The Michelin Red Guides, which cover restaurants.
You can buy the Michelin maps from their website and here is a link to the page that shows all of the maps of France: http://tinyurl.com/4bt96ev
And speaking of Michelin, you can go to the website viamichelin.com and get info on drive times and distances, toll and fuel costs and suggested routes (i.e. scenic routes). The drive times given do not consider stops (fuel, food, bathrooms) nor do they consider bad weather and traffic.
Here is some other general advice for you. You should google some of the town/tourist office websites for any towns you may want to visit. You will find loads of info on these websites including hotel/accommodation and restaurant info as well as what to see and do in the area. Occasionally the websites have English versions. In doing a google search enter the name of your town followed by the words "site officiel" or "office de tourisme" and this will bring the town to the top of your search. Another thing I like to do to see if a town may be worth visiting is enter the town name in a google search followed by the word "photos". Sometimes I visit a town if I find it looks charming/interesting in photos.
Here are some other links you may find useful:
http://www.beaune-tourism.com/
http://www.visitdijon.com/en/
www.road-of-the-fine-burgundy-wines.com/
http://www.burgundy-by-bike.com/
http://www.burgundy-visit.com/gb/index_gb.php
http://www.vezelaytourisme.com/
linternaute.com/sortir/…11.shtml
http://www.ville-semur-en-auxois.fr/
http://www.noyers-et-tourisme.com/
www.abbayedefontenay.com/abbayedefontenay.htm
http://www.commarin.com/
bussy-rabutin.monuments-nationaux.fr/fr/
http://www.chateauneuf.net/